unclassified

US ARMY TARDEC Robotics Overview

Bernard Theisen, Joint Center for Robotics

25 March 2010

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or the Department of the Army (DoA). The opinions of the authors expressed herein do

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shall not be used for advertising or product endorsement purposes.

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1. REPORT DATE 25 MAR 2010

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4. TITLE AND SUBTITLE US ARMY TARDEC Robotics Overview

5a. CONTRACT NUMBER

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5c. PROGRAM ELEMENT NUMBER

6. AUTHOR(S) Bernard Theisen

5d. PROJECT NUMBER

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7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) US Army RDECOM-TARDEC 6501 E 11 Mile Rd Warren, MI48397-5000, USA

8. PERFORMING ORGANIZATION REPORT NUMBER 20633RC

9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR’S ACRONYM(S) TACOM/TARDEC

11. SPONSOR/MONITOR’S REPORT NUMBER(S) 20633RC

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13. SUPPLEMENTARY NOTES The original document contains color images.

14. ABSTRACT

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a. REPORT unclassified

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Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18

unclassified

TARDEC Joint Center for Robotics

Industry Partnerships Academia PartnershipsGovernment Partnerships

TRADOC

Community Outreach

• S&T Support to the RS-JPO

• Develops and Fosters external Relationships

• Matures technology for Insertion into ATO programs

• Robotics Outreach

• RS JPO Collaboration Cell Lead

• Support to IGS Capability Cells

• Robotics Academic Programs (Including Curriculum Development)

Robotics,

Engineering and

Technology Days

TARDEC Robotics

Quarterlies

FIRST

Robofest

IGVCABB

BAE

Delphi

Ford

General Dynamics

General Motors

Google

iRobot

JADI

John Deere

Lockheed Martin

Oshkosh

Polaris

QinetiQ

Quantum Signal

Raytheon

SoarTechnology

Think-A-Move

Toyota

Auburn University

Carnegie Mellon

Lawrence Technological

University

Massachusetts Institute of

Technology

Michigan State University

Michigan Technological

University

Oakland University

University of Detroit Mercy

University of Michigan –

Ann Arbor

University of Michigan -

Dearborn

US Military Academy at

West Point

Virginia Tech

Wayne State University

unclassified

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Unique Process:• ‘Mine’ Army Universal Task List (AUTL) and TRADOC Warfighter Outcomes

(WFO) for tasks that have the potential for benefiting from the use of robotics

• Group tasks into engineering, security, medical, maintenance and logistics

categories and let smaller groups share ideas and processes across traditional boundaries and suggest unique, innovative robotic solutions

• Use simple logic scheme to further assign a GREEN, AMBER, RED feasibility

consensus to each robotics task and discuss the ratings with entire assembly

Results:

• Identified 5 MOSTLY FEASIBLE tasks in in logistics, medical and

security and 35 POTENTIALLY FEASIBLE tasks in all 5 areas

• Stakeholders gain insight and begin new process that ‘pushes innovative technology

• The Robotics Innovation Workshop (RIW) results will impact FY11

WFO and TRADOC Pamphlet 525-66 revision

Motivation:• Bring together Army/DOD robotics community, TRADOC ARCIC

and local industry and academic leaders to discuss non-FCS

uses of robotics (Jan. 15, 2009)

Industry Focused Workshops

Pushing Requirements to the User Based on Technology

Development, Integration, Experimentation and Testing

Prepared by:

Army Capabilities Integration Center - Tank-Automotive Research and

Development Engineering Center Robotics Initiative

19 March 2009

Robotics Strategy White Paper

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Robotics Rodeo Summary

Outcomes

• Momentum

• New business model

• Searchable database

• Referrals to PMs

• Feedback to vendors

• State of technology

Next • Continued assistance in development of ONS technologies and procurement

• Conduct user assessment as needed

• Next Rodeo targeted for October 2010 focused on TRADOC approved

capability gaps

Goals of the Robotics Rodeo:

1. Educate key decision makers and align the robotics industry;

2. Educate Soldiers and developers;

3. Observe the current state of technologies to encourage the development of

robotic systems to support operational needs.

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VOIED Defeat• Capability for autonomous VOIED defeat

• Agnostic autonomous kit ready for any wheeled

vehicle equipped with a suite of IED defeat payloads

(rollers, cutters, rippers, blades, jammers, etc)

III Corps ONS Overviews

Autonomous Detection Vehicle • Autonomous route investigation and hazard marking

• Fundamentally a robotic appliqué kit on a vehicle to remove

the Soldier from the vehicle for counter IED/route clearance.

• Funding exists for developmental phase (JIEDDO to NVL)

Convoy Logistics• Kit-based, driver assist robotic follower system for current

force tactical wheeled vehicles for increased situational

awareness by the vehicle operator, giving increased

opportunity for ambush and IED detection, and allowing for

safer operation in limited visibility environments.

• Military User assessment at Fort Hood /Benning in 2010

• Funding exists for developmental phase and CONUS MUA

Robotic Wingman• Large armed robotic platform assumes

role as a member of squad / formation

•Leverage technologies under

development by RDECOM under multiple

ATO’s

• Considerable development and

technology maturation required for this

capability

Persistent Stare• A small robot with a sensor

package that can navigate

autonomously to a specified point

and perform reconnaissance and

surveillance enabling the robot to

move through areas of anticipated

enemy threat in order to provide real-

time information to the operator

within the carrier vehicle.

Submitted by III Corps

Validated by G-3/5/7 13 Nov 09

Similar capabilities identified in

JCIDS process, FCS ORD and

other ONS/JUONS

AR2B scheduled for 02 FEB 10

Varying levels of cost, schedule,

performance risk and

maturity

unclassified

Transitioning Technology

Military Technologies:

• Sound Navigation and Ranging (Sonar) – Rear Backup Sensors

• Radio Detection And Ranging (Radar) – Adaptive Cruise Control

• Laser Detection and Ranging (LADAR) – Collision Detection

• Global Positioning System (GPS) - Navigation

• Machine Vision (MV) – Lane Departure

• Control Algorithm – Autonomous Navigation

Automotive Technologies:

• Controller–area network (CAN) – Vehicle Control

• Drive-by-wire (DbW) – Teleoperation

• Heating, Ventilating, and Air Conditioning

(HVAC) – Signature Management

• Seat Belts and Air Bags – Increased Safety

• Humane Factors Engineering - MANPRINT

• Control Algorithm – Autonomous Navigation

unclassified

Industrial Collaboration

• TARDEC integrated a Highly dexterous

COTS industrial robots arm on UGV.

• Take advantage of an industry that has

spent hundreds of millions of dollars in

R&D to develop these technologies over

the past 50 years.

• The arm is strong, faster and more

reliable than fielded technology.

• Specially designed general purpose

handling gripper.

• Advanced user interface for easy

manipulation of robot

arm with pre-defined routines for

general tasks.

• Perform inspections, debris

interrogation, hazardous material

sample collector.

• Path forward for teleoperation, weight

reduction and integrated controller

approach.

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Michigan Automotive Robotics Cluster (MARC)

Federal Government

(SBA, DoD, DOC, DOE)

State Government

(MEDC)

Professional Associations

(AUVSI, AA, ESD)

Department of Defense

(TARDEC)

Universities & Colleges

(OU, URC)

Regional Industry

Purpose: Establish a technology cluster initiative focused on the

development and manufacturing of robotic systems

Goals: Workforce Development, Small Business Participation,

Automotive Industry Transition

- RFI’s were received and reviewed

- Pilot projects to be awarded

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Cobra Gold 2010

• The concept was derived from Marine

feedback during Cobra Gold 2008 when

the first prototype Warrior participated in

the Technology Roadshow.

• First time a ground robotic platform

preformed a live fire during an actual

exercise with Warfighter’s.

• TARDEC's role at the Combined Arms

Live Fire Exercise (CALFEX) was to train

the Marine’s to use the Anti-Personnel

Obstacle Breaching System (APOBS)

munitions on the unmanned Warrior

platform.

• The robotic APOBS was operated by

Marine’s and was a significant asset to

the kick-off for the Closing Ceremony

CALFEX, because it allowed the

infiltration of the ground forces.

unclassified

Tanglefoot

• In response to a OEF ONS.

• Tangle Foot is a lost cost mechanical trip

wire solution developed to be part of a

toolkit for both Packbots and Talon UGVs.

Both platforms Tangle Foot variants offer a

tool-less quick connect/disconnect feature

which is designed to maintain mission

tempo.

• TARDEC robotics was responsible for the

design and testing.

• Partners RS-JPO, PM IED Defeat,

Keweenaw Research Center and JIEDDO.

unclassified

Purpose:

Provide low cost (sub 50K) convoy automation

(Leader/Follower) capability for current force

Army tactical vehicles -Support Warfighter

requirement for convoy/resupply automation and

active safety -Provide Robotics capability in

CS/CSS community -Leverage road/vehicle image

following, ultra wide band positioning, feducial

tracking, low cost IMU and laser radar

technologies.

Payoff:

Increase convoy operational tempo, reduce

friendly vehicle collisions, decrease fatigue,

increase operator situational awareness, workload

management and threat response thru driving

automation.

Convoy Active Safety Technologies (CAST)

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Construction Engineering Robotic Kit (CERK)

Program Objectives:

Increase Soldier safety by removing them from

the vehicle during dangers missions while

improving the capabilities of the platform.

Program Goals:

– Provide low cost robotic capability for current

force Army vehicles

– Support Warfighter requirement for improved

safety

– Provide Robotics capability in CS/CSS

community

– Leverage RDECOM Technologies

unclassified

Advanced Platform Demonstrator (APD)

• APD Program is developing, integrating and

testing next-generation UGV mobility

technologies.

• Key technologies include: Hybrid-electric

drive systems, Advanced suspension

technologies, Thermal management systems,

Power management systems, UGV safety

systems, and Lightweight hull technologies.

• It is a 6-wheel drive, skid-steer vehicle

weighing 9.3 tons, series hybrid-electric

vehicle, containing lithium-ion batteries that

provide power to six in-hub electric drive

motors. The APD also has an onboard diesel

generator that can alternatively be used to

provide power to the drive motors and/or

charge the Li-ion batteries and is capable of

speeds in excess of 50 mph.

• APD has logged more than 1300 kilometers,

achieving a top speed of more than 50 mph

and traversing a 60-percent longitudinal slope.

unclassified

Purpose:

Incorporate actual hardware both fielded and

prototypes using simulation, stimulation and

emulation to test concepts and validate

capabilities.

• Hardware In The Loop includes:

– Vehicle Warfighter Machine Interface

– Dismounted Controllers

– FBCB2 and other ABCS

– SoSCOE

– Autonomous Control Algorithms

Partners:

• Robotic Systems Joint Project Office (RS-JPO)

• Cross Command Collaboration Effort (3CE)

• Natick Soldier Center – Infantry Warrior

Simulation (IWARS)

• Night Vision Labs – Comprehensive Munitions

and Sensor Server (CMS2)

• Modeling Architecture for Technology,

Research and EXperimentation (MATREX)

Manned And Unmanned Vehicle (MAUV) SIL

unclassified

Safe Operations (SafeOps)

• Increase Soldier Directly address risks

associated with employing UGVs in

dynamic environments

• Identify risk areas of operating UGVs

around moving traffic, pedestrians &

dismounted forces

• Integrating FCS representative

technologies

• Dismounted forces safety

• Maintain lane among civilian traffic

• Develop the tools, techniques & autonomy

to maximize mounted & dismounted

control of ground and air unmanned

systems and optimize Soldier-robot and

robot-robot ground & air teams

unclassified

Improved Mobility and Operational Performance through Autonomous

Technologies (IMOPAT) ATO

• Focus on closed-hatch operations, indirect

vision

• 360/90 degree local area awareness

• Improved mobility via non-LADAR and LADAR

based solutions

• Improved assessment and integration of

operator performance in real-time

• Increase situational awareness for all crew

members

360/90 Day/Night

Near-field Sensor Coverage

360/90 Day/Night

Near-field Sensor Coverage

360/90 Day/Night

Near-field Sensor CoverageAdvanced

Crew Stations

Soldier Monitoring

& State Classification

Soldier Monitoring

& State Classification

Enhance, Integrate and Demonstrate

360/90 LSA/Assisted Mobility/Human

Dimension to Maximize Indirect Vision

360/90 LSA and Mobility Capabilities

(Secure Mobility)

FY 2009 FY 2012

TRL 4

Integrate High

Resolution Imager

TRL 5TRL 6

Integrate Threat

Detection & Cueing

Interface Crewstation

Warfighter Interface

LSA sensor system

unclassified

Safe Operations of Unmanned systems for Reconnaissance in Complex Environments

(SOURCE) ATO

• Safer operations of UGVs in proximity to

pedestrians and vehicles

• Increase in vehicle autonomy to enable

less supervisory burden

• Increased UGV situational awareness

• Robust Soldier/robot and robot/robot

teaming behaviors

• Robust UGV performance in all

environments/conditions

• Simulation of platform, payload and

algorithms in relevant operational

environment

FY 2009 FY 2012

Perception & Control Technologies,

Tactical/Mission Behavior Technologies,

TRL=4

Perception & Control Technologies,

Tactical/Mission Behavior Technologies,

TRL=5

Perception & Control Technologies,

Tactical/Mission Behavior Technologies,

TRL=6

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• Robofest challenges teams of students to

design, build, and program autonomous

robots to compete in the following

competition categories, focusing on STEM

(Science, Technology, Engineering, and Math)

in Junior (grades 5–8) and Senior (grades 9–

12) divisions:

– Game Competition

– Exhibition

– RoboFashion and Dance Show

– Vision-centered Mini Urban Challenge

– Flutterbot Warehouse Firefighting

– VEX Elevation

Robofest

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• RET Days focus on robotic systems given that

this field is multidisciplinary in nature and

demonstrates electrical, mechanical, and

computer engineering aptitude.

• The intent of this activity is to allow students

to gain insight into what can be done with

technology based careers and why they

should be focusing on math and science.

• This event supported Michigan’s objective to

become a technology based economy by

sparking student’s interest in technology

based degrees and careers.

– RET Day – MAY 07 – 600 students

– RET Days – DEC 07 – 1,800 students

– RET Week – DEC 08 – 3,600 students

– RET Week – MAY 10 – 5,600 students

Robotics, Engineering and Technology (RET) Week

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Michigan For Inspiration and Recognition of Science and Technology (MI FIRST)

• MI FIRST is a unique high school intellectual

varsity sport designed to draw young people

into the exciting and action-packed world of

science and engineering. Students,

engineering mentors, volunteers and

participating universities help make this a

great event.

• Michigan is the only state that runs its own

internal FIRST competitions. This provides

Michigan teams the opportunity to plan in

over twice as many games for half the cost.

• Michigan has been very successful in their

implementation of FIRST. Last year 4 out of

the top 6 schools were from Michigan and a

Michigan school has won the national

championship 9 out 18 times (1999, 2001,

2002, 2003, 2004, 2005, 2006, 2008, 2009).

unclassified

Intelligent Ground Vehicle Competition (IGVC)

• IGVC is cutting edge engineering education

for university students built around a

competition format that challenges students

to design and build fully autonomous

vehicles.

• 17 Competitions since 1993

– Thousand of Students

– 375 Teams

– 72 University

– 4 Countries

• 18TH IGVC

– 4 Challenges – Autonomous, Design,

Navigation & JAUS

– June 4-7, 2010

– Oakland University, MI

– Robfest Event

– MI FIRST Event

unclassified

Collaborative Autonomous Navigation with Interactive Networked Engagement

(CANINE)

22

CANINE intent on researching and developing advanced robotic collaborative behaviors

through the teaming of industry and academia in a multi-year, multi-award, contract through the

Robotics Technology Consortium where the advancement to the second year is contingent on

performance at a completive down-select.

The desired behaviors are akin to those possessed by the military working dogs of years

past. The focus is on the ―Fetch‖ and ―Surveillance‖ behaviors of these animals.

Year 1 - 6 Awards, $250k per recipient Year 2 - 3 Awards, $500k per recipient

unclassified

• MAGIC is a Joint US/Australia Robotics

Challenge

– November 2010, in conjunction with

Australian MOD Land Warfare Conference

• Emphasis on autonomy, inter-operability, user-

to-robot ratio, data mapping, neutralizing mobile

and static objects of interest, and

heterogeneous robot teaming

• Down select to 5 teams competing

– Oct 09: 32 proposals down selected to 12

– Jun 10: final 5 teams selected based on

site visit and demonstration

• Prizes 1st-$750K, 1st, 2nd-$250K & 3rd-$100K

• TARDEC is the U.S. Lead

Multi Autonomous Ground-robotic International Challenge (MAGIC)

Australian

- MAGICIAN

- Strategic Engineering

- Numinance (Unfunded)

- University of New South Wales (Unfunded)

Canada

- Northern Hunters

Japan

- Chiba Team/Chiba University

Turkey

- Cappadocia

USA

- RASR

- Team Cornell

- Team Michigan

- Virginia Tech

- University of Pennsylvania

unclassified

TARDEC Robotics Mission

Leverage the best available technology

from industry, academia, and government

to develop, integrate, and sustain high

quality robotic capability in support of

national security interests.

For more information, please contact us at:

DAMI_RoboticsRodeo@conus.army.mil

unclassified

BACK UP

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MissionIntegrate, Explore, and Develop Robotics, Network and Control Components with a Focus on Customer

Driven Requirements to Provide Full System Solutions to the War Fighter

Technology Components

R1

R2

R4

R3 Tref

Ta

Academic Partnerships

Initial

Capabilities

Document

(ICD)

Transition and Requirements

Development

Integration

SME

Defined

Scenarios

Integration Technology Development Lessons

Learned to Enable Early Technology Insertion

Tech

Transfer

TARDEC Robotics

Demonstrators

TAGS-CX

RF Stryker

Robotic Decontamination

Military Relevant Test

& Experimentation

Robotics Collaboration and RVCA ATO

Experimentation

Convoy Active Safety Technologies

War Fighter Experimentation #1

FCS MULE

FCS ANS

Current Force Convoy Operations

Future Force SMI

FCS JTRS

ODIS T-3

unclassified

TAGS-CX Robotic Platform Skunkworks

Purpose: Develop an integration testbed to

evaluate and demonstrate modular plug & play

mission payloads to demonstrate robotic

capabilities

Payloads:

• Picatinny Lightweight Remote Weapon Station

• Robotic decontamination

• Bobcat tools

• Robotic bridging

• Gun fire detection system

• Battlefield Extraction - Assist Robot (BEAR)

Partners: JGRE, ARDEC, ARL, MANSCEN, TATRC

27

unclassified 28

Following, Awareness, SafeOps, and Tracking through IGS (fastIGS)

Purpose:

Integrate, enhance, and demonstrate a 360°Spatial Awareness System using Ultra Wide Band

for Dismounted Following and Mounted

Autonomous Tactical Behaviors.

Payoff:

Drastically minimizes the amount of soldier

intervention required to take unmanned systems

along in dismounted operations.

Provides 360° Spatial Awareness for all assets in

the system (manned and unmanned).

unclassified

Crewstation Advancements

Dismounted Controller

PAST•Workload reduction

•Embedded crewstation

PRESENT•Robotic control (mounted, dismounted)

•Driving aids (Soldier assist)

•Scalable, portable Interface

FUTURE•Soldier monitoring and task assist

•Intelligent agents

•360 degree situational awareness

unclassified

video link control link

world model

Max driving speed

Sensor-HMI Latency

Soldier Awareness through Colorized Ranging (SACR)

unclassified

Purpose:

Increase the level of autonomy of

Unmanned Ground Vehicles (UGVs)

toward operational consideration

Products:

- Near-autonomous UGV operations in

dynamic environments

- Near-autonomous dynamic UGV/MGV Tactical Formations

- UGV System Self Security through pedestrian Intent inference

Near Autonomous Unmanned

Systems (NAUS) ATO

unclassified

Robotics Collaboration (RC) ATO

Purpose: Develop the tools, techniques, & autonomy to

maximize mounted and dismounted control of ground

and air unmanned systems and optimize Soldier-robot

and robot-robot ground and air teams

Scalable Interface:

– Increased scalability, portability and tailorability of Soldier

Machine Interface—reduces training burden

– Control multiple unmanned system– one device can

support unique robots from different vendors

Driving Aids:

– Enables Soldiers to take actions of a semi-auto vehicle

while staying in obstacle avoidance

– Increased mission OPTEMPO, reduced intervention times

– Provides Situational Awareness of unmanned system

– Increased insight in unmanned system planning activities